﻿<Window
        xmlns="http://schemas.microsoft.com/winfx/2006/xaml/presentation"
        xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml"
        xmlns:propGrid ="clr-namespace:FinalYear.iNavigate"
        xmlns:telerik="http://schemas.telerik.com/2008/xaml/presentation" x:Name="wndoiNavigate" x:Class="FinalYear.iNavigate.MainWindow"
        Title="iNavigate - Debug" Height="810" Width="1200" Loaded="WindowLoaded"  WindowState="Maximized" ResizeMode="NoResize" Background="White" Icon="Images/whtcne.jpg" Closing="wndoiNavigate_Closing">
    <Grid Margin="6,4,2,-4">
        <Grid.ColumnDefinitions>
            <ColumnDefinition Width="Auto" />
            <ColumnDefinition MinWidth="276" />
        </Grid.ColumnDefinitions>

        <Canvas x:Name="canvas" Margin="8,22,10,231" RenderTransformOrigin="0.51,0.491" Grid.Column="1" >
            <telerik:RadBusyIndicator Height="300" Canvas.Left="82" Canvas.Top="481" Width="300"/>
        </Canvas>

        <telerik:RadExpander x:Name="rdexpdrInputParams" Header="Input Parameters" HorizontalAlignment="Left" Margin="1,1,0,0" VerticalAlignment="Top" MinHeight="690" ClickMode="Press" ExpandDirection="Left" telerik:AnimationManager.IsAnimationEnabled="False"  IsExpanded="True" OpacityMask="{DynamicResource {x:Static SystemColors.ActiveCaptionTextBrushKey}}">

            <propGrid:FrontFace x:Name="iNavigateProperties"  Height="690"  VerticalAlignment="Top" RenderTransformOrigin="-0.212,0.293" Width="276" />
        </telerik:RadExpander>
        
        <telerik:RadTabControl x:Name="rdtbctrlOutput" RenderTransformOrigin="0.5,0.5" Grid.Column="1" Margin="4,554,1,12" Background="White" BorderBrush="White" HeaderBackground="Black">

            <telerik:RadTabItem Header="Diagnostic Check">
                <telerik:RadBusyIndicator Grid.Row="1" x:Name="rdbsyIndicator" Margin="0,0,0,16" Background="AliceBlue" IsIndeterminate="True">
                    <telerik:RadBusyIndicator.BorderBrush>
                        <LinearGradientBrush EndPoint="0.5,1" StartPoint="0.5,0">
                            <GradientStop Color="Black" Offset="0" />
                            <GradientStop Color="White" Offset="1" />
                        </LinearGradientBrush>
                    </telerik:RadBusyIndicator.BorderBrush>

                    <Grid>
                        <Grid.ColumnDefinitions>
                            <ColumnDefinition Width="169*" />
                            <ColumnDefinition Width="703*" />
                        </Grid.ColumnDefinitions>
                        <telerik:RadComboBox HorizontalAlignment="Left" Margin="18,32,0,0" VerticalAlignment="Top" Width="146" x:Name="rdchkbxAddons" SelectionChanged="rdchkbxAddons_SelectionChanged" Foreground="Black" AllowDrop="True"  Background="{DynamicResource {x:Static SystemColors.ControlBrushKey}}" MaxDropDownHeight="350" />
                        <telerik:RadButton  Grid.Column="1" HorizontalAlignment="Left" Margin="19,30,0,0" VerticalAlignment="Top" x:Name="rdbtnCheckSonar" Content="Diagnose" Click="rdbtnDiagnostic_Click"  BorderBrush="Black" OpacityMask="Black" Background="{x:Null}" />
                    </Grid>
                </telerik:RadBusyIndicator>
            </telerik:RadTabItem>
            <telerik:RadTabItem Header="Camera Feed">
                <Grid>
                    <Grid.ColumnDefinitions>
                        <ColumnDefinition Width="169*" />
                        <ColumnDefinition Width="703*" />
                    </Grid.ColumnDefinitions>
                    <telerik:RadComboBox HorizontalAlignment="Left" Margin="18,32,0,0" VerticalAlignment="Top" Width="146" x:Name="rdchkbxCameraFeed"  Foreground="Black" AllowDrop="True"  Background="{DynamicResource {x:Static SystemColors.ControlBrushKey}}" MaxDropDownHeight="350" SelectionChanged="rdchkbxCameraFeed_SelectionChanged" />
                </Grid>
               
            </telerik:RadTabItem>
            <telerik:RadTabItem Header="Feature Detection Output">
                <!--<telerik:RadBusyIndicator Grid.Row="1" x:Name="rdbsyIndicators" Margin="0,0,0,16" Background="AliceBlue" IsIndeterminate="True">
                    <telerik:RadBusyIndicator.BorderBrush>
                        <LinearGradientBrush EndPoint="0.5,1" StartPoint="0.5,0">
                            <GradientStop Color="Black" Offset="0" />
                            <GradientStop Color="White" Offset="1" />
                        </LinearGradientBrush>
                    </telerik:RadBusyIndicator.BorderBrush>-->

                <Grid>
                    <Grid.ColumnDefinitions>
                        <ColumnDefinition Width="169*" />
                        <ColumnDefinition Width="703*" />
                    </Grid.ColumnDefinitions>
                    <TextBox HorizontalAlignment="Left" Height="23" Margin="34,15,0,0" TextWrapping="Wrap"  VerticalAlignment="Top" Width="120" x:Name="txtbxFrameRate" Grid.Column="1" />
                    <TextBox HorizontalAlignment="Left" Height="23" Margin="34,55,0,0" TextWrapping="Wrap"  VerticalAlignment="Top" Width="120" x:Name="txtbxTrackedFeatures" RenderTransformOrigin="2.1,0.783" Grid.Column="1" />
                    <Label Content="Frame Rate (fps)" HorizontalAlignment="Left" Margin="26,15,0,0" VerticalAlignment="Top" Width="100" />
                    <Label Content="Tracked Features" HorizontalAlignment="Left" Margin="30,55,0,0" VerticalAlignment="Top" Width="100" />
                    <Label Content="Features Lost" HorizontalAlignment="Left" Margin="29,92,0,0" VerticalAlignment="Top" Width="100" />
                    <TextBox HorizontalAlignment="Left" Height="23" Margin="34,92,0,0" TextWrapping="Wrap"  VerticalAlignment="Top" Width="120" x:Name="txtbxNotTrackedFeatures" RenderTransformOrigin="2.1,0.783" Grid.Column="1" />
                </Grid>
                <!--</telerik:RadBusyIndicator>-->
            </telerik:RadTabItem>
            <telerik:RadTabItem Header="Obstacle Detection Output">
                <Grid>
                    <Grid.ColumnDefinitions>
                        <ColumnDefinition />
                    </Grid.ColumnDefinitions>
                    <TextBox HorizontalAlignment="Left" Height="23" Margin="230,15,0,0" TextWrapping="Wrap"  VerticalAlignment="Top" Width="120" x:Name="txtbxLeftSum" />
                    <TextBox HorizontalAlignment="Left" Height="23" Margin="600,15,0,0" TextWrapping="Wrap"  VerticalAlignment="Top" Width="120" x:Name="txtbxRightSum" RenderTransformOrigin="2.1,0.783" />
                    <Label Content="Left Sum" HorizontalAlignment="Left" Margin="161,15,0,0" VerticalAlignment="Top" Width="64" Height="26" />
                    <Label Content="Right Sum" HorizontalAlignment="Left" Margin="531,15,0,0" VerticalAlignment="Top" Width="64" Height="26" />
                    <Label Content="Center" HorizontalAlignment="Left" Margin="360,58,0,0" VerticalAlignment="Top" Width="64" Height="26" />
                    <TextBox HorizontalAlignment="Left" Height="23" Margin="430,57,0,0" TextWrapping="Wrap"  VerticalAlignment="Top" Width="120" x:Name="txtbxCenterSum" RenderTransformOrigin="2.1,0.783" />
                    <Label Content="Sonar" HorizontalAlignment="Left" Margin="361,93,0,0" VerticalAlignment="Top" Width="64" Height="26" />
                    <TextBox HorizontalAlignment="Left" Height="23" Margin="431,92,0,0" TextWrapping="Wrap"  VerticalAlignment="Top" Width="120" x:Name="txtbxSonar" RenderTransformOrigin="2.1,0.783" />
                    <Button HorizontalAlignment="Left" Height="23" Margin="386,123,0,0" VerticalAlignment="Top" Width="120" x:Name="btnCollision" RenderTransformOrigin="2.1,0.783" Content="Collision" />
                    <!--<telerik:RadRadialGauge x:Name="radialGauge" Margin="602,36,148,-13">
                        <telerik:RadialScale Name="scale"
                                     LabelRotationMode="None"
                                     IsInteractive="True"
                                     MajorTickOffset="-0.015*"
                                     MiddleTickOffset="-0.015*"
                                     MinorTickOffset="-0.015*">
                            <telerik:RadialScale.Ranges>
                                <telerik:GaugeRange x:Name="range1"
                                            Min="0" Max="20"
                                            StartWidth="0.015"
                                            EndWidth="0.015"
                                            Background="#FF1E8D00" />
                                <telerik:GaugeRange x:Name="range2"
                                            Min="20" Max="90"
                                            StartWidth="0.015"
                                            EndWidth="0.015"
                                            Background="#FF000000" />
                                <telerik:GaugeRange x:Name="range3"
                                            Min="90" Max="100"
                                            StartWidth="0.015"
                                            EndWidth="0.015"
                                            Background="#FFE50000" />
                            </telerik:RadialScale.Ranges>
                            <telerik:RadialScale.Indicators>
                                <telerik:BarIndicator x:Name="radialBar"
                                              Value="80"
                                              telerik:ScaleObject.Location="Inside"
                                              telerik:ScaleObject.Offset="0.25*" />
                                <telerik:RadialScaleMarker Name="marker"
                                        IsAnimated="True"
                                        Duration="0:0:1"
                                        telerik:ScaleObject.Offset="-0.015*"
                                        Value="25" />
                                <telerik:Needle Value="50" />
                                <telerik:Pinpoint />
                            </telerik:RadialScale.Indicators>
                        </telerik:RadialScale>
                    </telerik:RadRadialGauge>-->
                </Grid>
                <!--</telerik:RadBusyIndicator>-->
            </telerik:RadTabItem>
            <Label Content="Tracked Features" HorizontalAlignment="Left" VerticalAlignment="Top" Width="100" />
            <telerik:RadComboBox HorizontalAlignment="Left" VerticalAlignment="Top" Width="146" x:Name="rdchkbxAddons_Copy" SelectionChanged="rdchkbxAddons_SelectionChanged" Foreground="Black" AllowDrop="True"  Background="{DynamicResource {x:Static SystemColors.ControlBrushKey}}" MaxDropDownHeight="350" />
        </telerik:RadTabControl>
        <!--<telerik:RadDocking x:Name="rdDockOutput" Grid.Column="1" Margin="4,575,1,0">

            <telerik:RadSplitContainer telerik:DockingPanel.InitialSize="200,180"
                    x:Name="BottomContainer" InitialPosition="DockedBottom" Margin="0,0,0,25">

                <telerik:RadPaneGroup x:Name="rdPaneGroup" Margin="1,-4,3,44">
                    <telerik:RadPane x:Name="rdpaneOutput" Header="">
                  <StackPanel Orientation="Vertical" Margin="0 0 0 0" VerticalAlignment="Top">
                        </StackPanel>
                 </telerik:RadPane>
                </telerik:RadPaneGroup>
            </telerik:RadSplitContainer>
        </telerik:RadDocking>-->
    </Grid>
</Window>